SD700 Series Servo Technical Manual V1.1 (EN)

Contents

Contents Contents Contents ............................................................................................................................................ I 1 Abstract .......................................................................................................................................... 1 1.1 Series Introduction .............................................................................................................. 1 1.2 Name of Each Part of the Servo Drive ................................................................................

1 1.3 Basic Information of Servo Drive ........................................................................................ 2 1.3.1 Installation Dimensions ........................................................................................... 2 1.3.2 Installation Way ....................................................................................................... 4 1.3.3 Specifications and Electric Parameters .................................................................. 5 1.3.4 Basic specifications .................................................................................................

6 1.4 System Diagram................................................................................................................ 10 1.5 System Configuration Examples ....................................................................................... 11 1.6 Drive Name ....................................................................................................................... 12 1.7 Maintenance and Inspection of Servo Drive ..................................................................... 13 1.7.1 Inspection of Servo Motor .....................................................................................

13 1.7.2 Inspection of Servo Drive ...................................................................................... 13 1.7.3 Approximate Standards for Changing Internal Parts of Servo Drive ..................... 14 1.8 Motor Name ...................................................................................................................... 15 1.9 Dimension of Motors ......................................................................................................... 16 2 Panel Operation ..........................................................................................................................

22 2.1.1 Keys’ Names and Functions of the Panel Operator .............................................. 22 2.1.2 Functions Switch ................................................................................................... 23 2.1.3 Status Display ....................................................................................................... 23 2.2 Operations of Auxiliary Functions (Fn group) ................................................................... 24 2.3 Operations of Parameter (Pn Group) ................................................................................

24 2.4 Operations of Monitoring Display Un Group ..................................................................... 25 3 Wiring and Connections ............................................................................................................. 26 2.1 Basic Operation................................................................................................................. 22 3.1 Main Circuit Wiring ............................................................................................................ 26 3.1.1 Terminals Description ............................................................................................

26 3.1.2 Wiring Diagram ..................................................................................................... 27 3.2 Motor Power Line Connection ........................................................................................... 30 3.3 CN2 Encoder Connection ................................................................................................. 32 3.4 CN7 USD communication terminal (connect to host machine)......................................... 33 3.5 Connection of CN6A and CN6B Communication Terminal ...............................................

34 3.6 CN5 Full Closed Loop Port ............................................................................................... 35 3.7 Definition of CN1 Terminal ................................................................................................ 36 3.8 Digital Input Signal ............................................................................................................ 37 3.8.1 Input Signal Descriptions ...................................................................................... 37 3.8.2 Input Signal Configuration .....................................................................................

38 3.8.3 Confirming the Input Status ................................................................................... 40 3.9 Digital Output Signal ......................................................................................................... 41 3.9.1 Output Signal Descriptions .................................................................................... 41 3.9.2 Output Signal Configuration .................................................................................. 42 3.9.3 Confirming the Output Status ................................................................................ 42 I SD700 Series Servo Technical Manual

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Contents

Contents 3.10 Connection with the Upper Device.................................................................................. 43 3.10.1 Analog Input Circuit 3 .......................................................................................... 43 3.10.2 Position Instruction Input Circuit.......................................................................... 43 3.10.3 Sequence Control Input Circuit ........................................................................... 47 3.10.4 Sequence Output Loop .......................................................................................

47 3.11 Position Control Wiring Diagram ..................................................................................... 49 3.12 Speed Control Wiring Diagram ....................................................................................... 50 3.13 Torque Control Wiring Diagram ....................................................................................... 51 3.14 Regenerative Resistor Connection ................................................................................. 52 3.14.1 Connection of Regenerative Resistors ...............................................................

52 3.14.2 Selection of Regenerative Resistor ..................................................................... 52 3.15 Noise and High Harmonic Countermeasures ................................................................. 53 4 Trial operation ............................................................................................................................. 54 4.1 Inspections and Notes before Trail Operation .................................................................. 54 4.1.1 Conditions of the Servo Motor...............................................................................

54 4.1.2 Conditions of the Servo Drive ............................................................................... 54 4.1.3 Installation ............................................................................................................. 54 4.2 JOG trail operation ............................................................................................................ 54 5 Operation ..................................................................................................................................... 55 5.1 Basic Functions .................................................................................................................

55 5.1.1 Quick Guide........................................................................................................... 55 5.1.2 Servo Enable and Over-Travel Setting ................................................................. 55 5.1.3 Motor Rotation Direction ....................................................................................... 57 5.1.4 Stop Mode ............................................................................................................. 57 5.1.5 Electromagnetic Brake ..........................................................................................

58 5.1.6 Regenerative Resistor ........................................................................................... 60 5.1.7 Overload ................................................................................................................ 61 5.1.8 Multi-turn Absolute Encoder .................................................................................. 62 5.1.9 Torque Limit ............................................................................................ 63 5.2 Position Mode ...................................................................................................................

65 5.2.1 Quick Guide........................................................................................................... 66 5.2.2 Basic Settings ....................................................................................................... 66 5.2.3 Deviation Clearance .............................................................................................. 68 5.2.4 Command Pulse Prohibition .................................................................................. 71 5.2.5 Positioning Approach ............................................................................................

71 5.2.6 Positioning Completion ......................................................................................... 71 5.2.7 Command Pulse Input Magnification Switching .................................................... 73 5.2.8 Smooth Settings .................................................................................................... 74 5.2.9 Frequency-division Output .................................................................................... 75 5.3 Speed Mode ......................................................................................................................

79 5.3.1 Quick Guide........................................................................................................... 79 5.3.2 Basic Settings ....................................................................................................... 79 5.3.3 Soft Start ............................................................................................................... 82 5.3.4 Zero Fixed Functions ............................................................................................ 83 5.3.5 Rotation Detection Signal ......................................................................................

84 5.3.6 Consistent Speed .................................................................................................. 85 5.4 Torque Mode ..................................................................................................................... 86 5.4.1Quick Guide............................................................................................................ 87 5.4.2 Basic Setting ......................................................................................................... 87 II SD700 Series Servo Technical Manual

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Contents

Contents 5.4.3 Adjustment of Command Offset ............................................................................ 89 5.4.4 Speed Limit in Torque Control ............................................................................... 90 5.5 Hybrid Control Mode Selection ......................................................................................... 90 5.6 Other Output Signals ........................................................................................................ 93 5.6.1 Servo Ready Output Signal ...................................................................................

93 5.6.2 Warning Output Signal .......................................................................................... 93 5.7 Timing Sequence .............................................................................................................. 95 5.7.1 Power Enable ON Timing sequence ..................................................................... 95 5.7.2 Power-Off Enable OFF Timing Sequence ............................................................. 96 5.8 Full closed-loop control .....................................................................................................

96 5.8.1 What is a full closed-loop system .......................................................................... 96 5.8.2 Parameter setting of full closed-loop control ......................................................... 97 5.8.3 Control block diagram of full closed loop control .................................................. 98 5.8.4 Setting of motor rotation direction and machine moving direction ........................ 98 5.8.5 Resolution of external grating ruler ....................................................................... 99 5.8.6 Setting of frequency division pulse output signal of grating ruler / encoder ........

100 5.8.7 Setting of Electronic Gear ................................................................................... 101 5.8.8 Setting example of electronic gear ratio .............................................................. 102 5.8.9 Setting of alarm detection ................................................................................... 103 6 Adjustment ................................................................................................................................ 105 6.1 Adjustments.....................................................................................................................

105 6.1.1 Adjustments Steps .............................................................................................. 105 6.1.2 Safety Precautions When Adjusting .................................................................... 106 6.2 Robust Control ................................................................................................................ 107 6.2.1 Summary ............................................................................................................. 107 6.2.2 Operating procedure ...........................................................................................

108 6.2.3 Supplement ......................................................................................................... 109 6.2.4 Related Parameters ............................................................................................ 109 6.3 Inertia Identification ......................................................................................................... 110 6.3.1 Summary ............................................................................................................. 110 6.3.2 Steps ...................................................................................................................

110 6.3.3 Supplement ......................................................................................................... 110 6.4 Intelligent Setting .............................................................................................................111 6.4.1 Summary ..............................................................................................................111 6.4.2 Steps ................................................................................................................... 112 6.4.3 Supplement .........................................................................................................

113 6.4.4 Related Parameters ............................................................................................ 114 6.5 Bandwidth Setting ........................................................................................................... 115 6.5.1 Profile .................................................................................................................. 115 6.5.2 Steps ................................................................................................................... 115 6.5.3 Supplement .........................................................................................................

116 6.5.4 Related Parameters ............................................................................................ 117 6.6 Manual Adjustment Function ........................................................................................... 118 6.6.1 Servo Gain .......................................................................................................... 118 6.6.2 Gain Switching .................................................................................................... 120 6.6.3 Speed Feedforward .............................................................................................

123 6.6.4 Torque Feedforward ............................................................................................ 124 6.6.5 PI-P Switching ..................................................................................................... 124 7 Auxiliary Functions ................................................................................................................... 128 III SD700 Series Servo Technical Manual

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Contents

Contents 7.1 List of Auxiliary Functions ............................................................................................... 128 7.2 Alarm Records Display (Fn000) ...................................................................................... 128 7.2.1 Overview ............................................................................................................. 128 7.2.2 Operating Procedure ........................................................................................... 129 7.3 Clear Alarm Record (Fn001) ...........................................................................................

129 7.3.1 Summary ............................................................................................................. 129 7.3.2 Operating Procedure ........................................................................................... 129 7.4 Software Reset (Fn002) .................................................................................................. 129 7.4.1 Summary ............................................................................................................. 129 7.4.2 Operating Procedure ...........................................................................................

130 7.5 Restore Factory Parameters (Fn003) ............................................................................. 130 7.5.1 Overview ............................................................................................................. 130 7.5.2 Operating Procedure ........................................................................................... 130 7.6 JOG Operation (Fn005) .................................................................................................. 130 7.6.1 Overview .............................................................................................................

130 7.6.2 Operating Procedure ........................................................................................... 131 7.7 Program JOG Operation (Fn006) ................................................................................... 131 7.7.1 Overview ............................................................................................................. 131 7.7.2 Operating Procedure ........................................................................................... 132 7.8 Automatic Adjustment of Command Offset (Fn100) .......................................................

132 7.8.1 Overview ............................................................................................................. 132 7.8.2 Operating Procedure ........................................................................................... 132 7.9 Speed command Offset Manual Adjustment (Fn101) ..................................................... 133 7.9.1 Overview ............................................................................................................. 133 7.9.2 Operating Procedure ...........................................................................................

133 7.10 Torque Command Offset Manual Adjustment (Fn102) ................................................. 133 7.10.1 Overview ........................................................................................................... 133 7.10.2 Operating Procedure ......................................................................................... 134 7.11 Current Offset Automatic Adjustment (Fn103) .............................................................. 134 7.11.1 Overview ............................................................................................................

134 7.11.2 Operating Procedure ......................................................................................... 134 7.12 Current Offset Manual Adjustment (Fn104) .................................................................. 134 7.12.1 Overview ........................................................................................................... 134 7.12.2 Operating Procedure ......................................................................................... 135 7.13 Initializing the Detection Value of Vibration Detection (Fn105) .....................................

135 7.13.1 Overview ........................................................................................................... 135 7.13.2 Operating Procedure ......................................................................................... 136 7.14 Bandwidth Settings (Fn303) .......................................................................................... 136 7.14.1 Overview ........................................................................................................... 136 7.14.2 Operating Procedure .........................................................................................

137 7.15 EasyFFT (Fn401) .......................................................................................................... 137 7.15.1 Overview ........................................................................................................... 137 7.15.2 Operating Procedure ......................................................................................... 138 7.16 Online Vibration Monitoring (Fn402) ............................................................................. 138 7.16.1 Overview ...........................................................................................................

138 7.16.2 Operating Procedure ......................................................................................... 138 8 Home Position Return and Internal Positions ....................................................................... 139 8.1 The principle of home position return function ................................................................ 139 8.1.1 Home position return trigger ................................................................................ 141 IV SD700 Series Servo Technical Manual

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